Decentralized Adaptive Control of Euler-Lagrange Mechanical System

被引：0
|
作者：
Cheng, Cheng-Fa [1 ]
Chen, Tse-Han [1 ]
机构：
[1] Natl Taiwan Ocean Univ, Dept Commun Nav & Control Engn, Keelung 20224, Taiwan
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON INTELLIGENT TECHNOLOGIES AND ENGINEERING SYSTEMS (ICITES2013) | 2014年 / 293卷
关键词：
Euler-Lagrange equations; Decentralized control; Adaptive; Uniformly ultimate; JUMP PARAMETER-SYSTEMS; ROBUST-CONTROL;
D O I：
10.1007/978-3-319-04573-3_93
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The problem of decentralized control Euler-Lagrange like mechanical systems with high-order interconnections is investigated in this paper. A new decentralized adaptation scheme is proposed to estimate the unknown structure bounds. Then, a decentralized adaptive controller is constructed to guarantee the uniformly ultimate boundedness of the system and the exponential convergence of the tracking error. Finally, a numerical example is given to demonstrate the validity of the results.
引用
收藏
页码：749 / 755
页数：7
相关论文
共 50 条
  • [31] Synthesis of an Adaptive State-constrained Control for MIMO Euler-Lagrange Systems
    Sachan, Kapil
    Padhi, Radhakant
    IFAC PAPERSONLINE, 2020, 53 (02): : 5518 - 5523
  • [32] Inverse Optimality and Adaptive Asymptotic Tracking Control of Uncertain Euler-Lagrange Systems
    Wu, Haiwen
    Xu, Dabo
    2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2019, : 242 - 247
  • [33] On reduced-complexity robust adaptive control of switched Euler-Lagrange systems
    Roy, Spandan
    Baldi, Simone
    NONLINEAR ANALYSIS-HYBRID SYSTEMS, 2019, 34 : 226 - 237
  • [34] Vibration control of underactuated mechanical systems with non-linear Euler-Lagrange control
    Juchem, Jasper
    Loccufier, Mia
    2023 EUROPEAN CONTROL CONFERENCE, ECC, 2023,
  • [35] Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents
    Tao, Tian
    Roy, Spandan
    De Schutter, Bart
    Baldi, Simone
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2024, 69 (06) : 3912 - 3927
  • [36] Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems
    Tao, Tian
    Roy, Spandan
    Baldi, Simone
    2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), 2022, : 2708 - 2713
  • [37] Adaptive H∞ Consensus Control of Euler-Lagrange Systems on Directed Network Graph
    Miyasato, Yoshihiko
    PROCEEDINGS OF 2016 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (SSCI), 2016,
  • [38] Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with State and Input Constraints
    Ghosh, Poulomee
    Bhasin, Shubhendu
    2023 AMERICAN CONTROL CONFERENCE, ACC, 2023, : 4229 - 4234
  • [39] Robust and adaptive control of Euler-Lagrange systems with an attractor independent of uncertainties.
    Nguyen Trung Quan
    Nguyen Doan Phuoc
    2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2012, : 1309 - 1312
  • [40] ADAPTIVE TRAJECTORY TRACKING CONTROL FOR EULER-LAGRANGE SYSTEMS WITH APPLICATION TO ROBOT MANIPULATORS
    Wang, Z.
    Goldsmith, P.
    Gu, J.
    CONTROL AND INTELLIGENT SYSTEMS, 2009, 37 (01)
12345